sigma-ii series sgdh fully closed interface unit user's...

YASKAWA 　MANUAL NO. SIE-C718-5

YASKAWA

FULLY CLOSED INTERFACE UNIT

USER'S MANUAL

SERIES SGDH

MODEL: JUSP-FC100

!

!

Safety Information

iii

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precau-

tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod-

ucts or to related equipment and systems.

WARNING Indicates precautions that, if not heeded, could possibly result in loss of life orserious injury.

CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minorinjury, damage to the product, or faulty operation.

PROHIBITED Indicates actions that must never be taken.

The warning symbols for ISO and JIS standards are different, as shown below.

ISO JIS

The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa products. Please abide by

these warning labels regardless of which symbol is used.

Yaskawa, 1999

All rights reserved. No part of this publicationmay be reproduced, stored in a retrieval system, or transmitted, in any form,or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission ofYaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, becauseYaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject tochange without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa as-sumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of theinformation contained in this publication.

iv

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates application examples.

Indicates supplemental information.

Indicates important information that should be memorized, including precautions such as alarm displays

to avoid damaging the devices.

Indicates definitions of difficult terms or terms that have not been previously explained in this

manual.TERMS

AEXAMPLE"

INFO

IMPORTANT

CONTENTS

v

CONTENTS

Safety Information iii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Visual Aids iv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Overview vii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Using This Manual viii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Safety Precautions ix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Checking Products and Part Names

1.1 Checking Products on Delivery 1 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Product Part Names 1 - 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Mounting the Option Unit 1 - 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Installation

2.1 Storage Conditions 2 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Installation Site 2 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Orientation 2 - 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Installation 2 - 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Connectors

3.1 Connecting to Peripheral Devices 3 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . .3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications 3 - 2. . . . . . . . . . . . . . . . .3.1.2 Three-phase (200 V) Main Circuit Specifications 3 - 3. . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 SERVOPACK Internal Block Diagrams 3 - 4. . . . . . . . . . . . . . . . . . . . . . .

3.3 Fully Closed Encoder Signals Connector (CN4) 3 - 5. . . . . . . . . . . . . . .3.3.1 Fully Closed Encoder Connection Example 3 - 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3.2 CN4 Connector Terminal Layout 3 - 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Examples of Combined Connections 3 - 7. . . . . . . . . . . . . . . . . . . . . . . .3.4.1 Single-phase Power Supply Specifications (for Position Control) 3 - 7. . . . . . . . . . . .3.4.2 Three-phase Power Supply Specifications (for Position Control) 3 - 8. . . . . . . . . . . .

4 Trial Operation

4.1 Check Items before Trial Operation 4 - 2. . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Parameters Required for Trial Operation 4 - 2. . . . . . . . . . . . . . . . . . . . .

vi

5 Parameter Settings and Functions

5.1 Fully Closed System 5 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.1 Fully Closed Control 5 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.2 Fully Closed System Specifications 5 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Setting Parameters 5 - 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Ratings, Specifications, and Dimensional Drawings

6.1 Ratings and Specifications 6 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Dimensional Drawings 6 - 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.2.1 Option Unit 6 - 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.2.2 SERVOPACKs 6 - 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Troubleshooting

7.1 Troubleshooting Problems with Alarm Displays 7 - 2. . . . . . . . . . . . . .

7.2 Troubleshooting Problems with No Alarm Display 7 - 4. . . . . . . . . . . .

Overview

vii

Overview

JAbout this Manual

This manual provides the following information for the Σ-ΙΙ Series SGMjH/SGDH-jE Servo-

drives.

D Procedures for installing and wiring the SERVOPACK and Option Unit.

D Procedures for trial operation of the Servodrive.

D Ratings and specifications for standard models.

D Procedures for maintenance and inspection.

JRelated Manuals

Refer to the following manuals as required.

Read this manual carefully to ensure the proper use of Σ-ΙΙ Series Servodrives. Also, keep this manu-

al in a safe place so that it can be referred to whenever necessary.

Manual Name Manual Number Contents

Σ-II Series SGMjH/SGDHUser’s ManualServo Selection and Data Sheets

SIE-S800-32.1 Describes the procedure used to selectΣ-II Series Servodrives and capacities.

Σ-ΙΙ Series SGMjH/SGDHUser’s ManualDesign and Maintenance

SIE-S800-32.2 Provides detailed information on SGDHSERVOPACKs.

viii

Using This Manual

J Intended Audience

This manual is intended for the following users.

D Those designing Σ-II Series Servodrive systems.

D Those installing or wiring Σ-II Series Servodrives.

D Those performing trial operation or adjustments of Σ-II Series Servodrives.

D Those maintaining or inspecting Σ-II Series Servodrives.

JDescription of Technical Terms

In this manual, the following terms are defined as follows:

D Option Unit = JUSP-FC100

D Servomotor = Σ-ΙΙ Series SGMAH, SGMPH, SGMGH, SGMSH, or SGMDH Servomotor.

D SERVOPACK = Σ-ΙΙ Series SGDH-jjjE SERVOPACK.

D Servodrive = A set including a Servomotor and Servo Amplifier.

D Servo System = A servo control system that includes the combination of a Servodrive with a host

computer and peripheral devices.

J Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward

slash (/) before the signal name, as shown in the following examples:

D /S-ON

D /P-CON

Safety Precautions

ix

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation,

maintenance and inspections.

JChecking Products upon Delivery

CAUTION!

D Always use the Servomotor and SERVOPACK in one of the specified combinations.

Not doing so may cause fire or malfunction.

J Installation

CAUTION!

D Never use the products in an environment subject to water, corrosive gases, inflammable gases,or combustibles

Doing so may result in electric shock or fire.

JWiring

WARNING!

D Connect the SERVOPACK ground terminal effectively to a system grounding conductor orgrounding electrode (100Ω or less).

Improper grounding may result in electric shock or fire.

CAUTION!

D Do not connect a three-phase power supply to SERVOPACK U, V, or W output terminals.

Doing so may result in injury or fire.

D Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

x

JOperation

WARNING!

D Never touch any rotating motor parts while the motor is running.

Doing so may result in injury.

CAUTION!

D Conduct trial operation on the Servomotor alone with themotor shaft disconnected frommachineto avoid any unexpected accidents.

Not doing so may result in injury.

D Before starting operationwith amachine connected, change the settings tomatch the parametersof the machine.

Starting operationwithoutmatching the proper settingsmay cause themachine to run out of control ormal-function.

D Before starting operation with a machine connected, make sure that an emergency stop can beapplied at any time.

Not doing so may result in injury.

D Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

JMaintenance and Inspection

WARNING!

D Never touch the inside of the SERVOPACKs.

Doing so may result in electric shock.

D Do not remove the panel cover while the power is ON.

Doing so may result in electric shock.

D Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

CAUTION!

D Do not disassemble the Servomotor.

Doing so may result in electric shock or injury.

D Do not attempt to change wiring while the power is ON.

Doing so may result in electric shock or injury.

Safety Precautions

xi

JGeneral Precautions

Note the following to ensure safe application.

S The drawings presented in this manual are sometimes shown without covers or protectiveguards. Always replace the cover or protective guard as specified first, and then operate theproducts in accordance with the manual.

S The drawings presented in this manual are typical examples and may not match the product youreceived.

S This manual is subject to change due to product improvement, specification modification, andmanual improvement. When this manual is revised, the manual code is updated and the newmanual is published as a next edition. The edition number appears on the front and back covers.

S If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa-tive or one of the offices listed on the back of this manual.

S Yaskawa will not take responsibility for the results of unauthorized modifications of this prod-uct. Yaskawa shall not be liable for any damages or troubles resulting from unauthorizedmodifi-cation.

1 -1

1Checking Products and Part Names

This chapter describes the procedure for checking Σ-II Series products and

the Option Unit upon delivery. It also describes the names of product parts.

1.1 Checking Products on Delivery 1 - 2. . . . . . . . . .1.2 Product Part Names 1 - 3. . . . . . . . . . . . . . . . . . .1.3 Mounting the Option Unit 1 - 4. . . . . . . . . . . . . . .

1

Checking Products and Part Names

1 -2

1.1 Checking Products on Delivery

The following procedure is used to check products upon delivery. Check the following items when

products are delivered.

Check Items Comments

Are the delivered products the onesthat were ordered?

Check the model numbers marked on the nameplatesof the Option Unit. (Refer to the descriptions of modelnumbers on following pages)

Is there any damage? Check the overall appearance, and check for damageor scratches that may have occurred during shipping.

Can the Option Unit be installed onthe SERVOPACK used?

Check the model number given on the SERVOPACKnameplate. The model number must contain “SGDH”and “E” as shown below to support the Option Unit.

SGDH-jjjE-j

If anyof the above itemsare faultyor incorrect, contactyourYaskawasales representativeor thedeal-

er from whom you purchased the products.

J External Appearance and Nameplate Examples

Figure 1.1 External Appearanceof the Option Unit

FC100

CN4

SERVOPACK

FULLY-CLOSED I/F UNIT

MODEL JUSP-FC100 VER. 000000

S/N V81003-69

YASKAWA ELECTRICMADE IN JAPAN

Serial number

Option Unit Name

Option Unit model number

Version

Figure 1.2 Nameplate

1

1.2 Product Part Names

1 -3

J Model Numbers

Option Unit

JUSP − FC10 0

Type of device: FC10 Fully Closed Interface Unit Design Revision Order

SERVOPACK peripheral device

1.2 Product Part Names

The following diagram illustrates the product part names of the Option Unit.

Nameplate: Indicates the model and serial numbers ofthe Option Unit.

CN4 Connector: Used for fully closed encoder.

FC100

CN4

Ground wire: Connect to the terminal marked as “G” onthe SGDH SERVOPACK.

Figure 1.3 Option Unit

1

Checking Products and Part Names

1 -4

1.3 Mounting the Option UnitMount a fully closed I/F unit type JUSP-FC100 on a SGDHSERVOPACK in the followingmanner.

Provide the screws for connecting ground wire as shown below.

MountingMethod

SERVOPACK Type Screw Remarks

Basemounted

SGDH-A3 to 02BESGDH-A3 to 10AE

M3 × 10 round head screws(with spring washer andplain washer)

Must be provided by customer.

SGDH-15 to 50AESGDH-05 to 30DE

M4 × 10 round head screw(with spring washer andplain washer)

Must be provided by customer.

SGDH-60/75AE M4 × 8 round head screws(with spring washer andplain washer)

Use the screw of the front panel.

Rackmounted

SGDH-A3 to 02BE-RSGDH-A3 to 50AE-RSGDH-05 to 30DE-R

M4 × 6 round head screws(with spring washer andplain washer)

Must be provided by customer.Note : Make sure that spring washers and plain

washers are used for mounting. (Otherwise,the screw for connecting ground wire sticksout from the other side of the flange, and theSERVOPACK cannot be mounted properly.)

Ductventilated

SGDH-60/75AE-P M4 × 8 round head screws(with spring washer andplain washer)

Use the screw of the front panel.

1. Remove the connector cover from the CN10 connector on the SERVOPACK.

MODE/SET DATA/

CHARGE POWER

SGDH−SERVOPACKYASKAWA

CN10

Connector cover

2. Mount the Option Unit on the SERVOPACK.

SERVOPACK connector CN10Connector (Connect to SERVOPACK)

SGDH−SERVOPACKYASKAWA

F 1C 00

CN4

1

1.3 Mounting the Option Unit

1 -5

3. For grounding, connect a ground wire of the Option Unit to the point marked “G” on theSERVOPACK.

MODE/SET DATA/

CHARGE POWER

SGDH−

SERVOPACKYASKAWAFC100

“G”GROUND WIRE

For SERVOPACK (30 W to 5.0 kW)

NS100

SERVOPACK 200VSGDH −

YASKAWA

“G”

GROUND WIRE

For SERVOPACK (6.0 kW to 7.5 kW)

When the Option Unit has beenmounted correctly, the SERVOPACKwill appear as shownin the following diagram.

YASKAWA SERVOPACK200VSGDH−

FC100

CN4

1

2 -1

2Installation

This chapter describes precautions for Σ-II Series product installation.

The SGDH SERVOPACKs are base-mounted servo controller. Incorrect

installation will cause problems. Always observe the installation precau-

tions shown in this chapter.

2.1 Storage Conditions 2 - 2. . . . . . . . . . . . . . . . . . . .2.2 Installation Site 2 - 2. . . . . . . . . . . . . . . . . . . . . . . .2.3 Orientation 2 - 3. . . . . . . . . . . . . . . . . . . . . . . . . . . .2.4 Installation 2 - 4. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2

Installation

2 -2

2.1 Storage Conditions

Store the SERVOPACKwithin the following temperature rangewhen it is storedwith the power

cable disconnected.

−20 to 85°C

Σ-II Series SGDH SERVOPACKwith Option Unit mounted

YASKAWA SERVOPACK200VSGDH−

FC100

CN4

2.2 Installation Site

Take the following precautions at the installation site.

Situation Installation Precaution

Installation in a ControlPanel

Design the control panel size, unit layout, and cooling method so thatthe temperature around the SERVOPACK does not exceed 55°C.

Installation Near aHeating Unit

Minimize heat radiated from the heating unit as well as any tempera-ture rise caused by natural convection so that the temperature aroundthe SERVOPACK does not exceed 55°C.

Installation Near aSource of Vibration

Install a vibration isolator beneath the SERVOPACK to avoid sub-jecting it to vibration.

Installation at a SiteExposed to CorrosiveGas

Corrosive gas does not have an immediate effect on the SERVO-PACK, but will eventually cause electronic components and contac-tor-related devices to malfunction. Take appropriate action to avoidcorrosive gas.

Other Situations Do not install the SERVOPACK in hot or humid locations, or loca-tions subject to excessive dust or iron powder in the air.

2

2.3 Orientation

2 -3

2.3 Orientation

Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK

must be oriented this way because it is designed to be cooled by natural convection or cooling

fan.

Secure theSERVOPACKusing2 to4mountingholes. Thenumber of holes dependson theSER-

VOPACK capacity.

Ventilation

WallMADE IN JAPAN

2

Installation

2 -4

2.4 Installation

Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.

Cooling fanCooling fan

50 mm (1.97 in) min.

50 mm (1.97 in) min.

30 mm(1.18 in) min.

10 mm (0.39 in) min.

J SERVOPACK Orientation

Install theSERVOPACKperpendicular to thewall so that the frontpanel (containingconnectors)

faces outward.

J Cooling

As shown in the figure above, provide sufficient space around each SERVOPACK for cooling

by cooling fans or natural convection.

J Side-by-side Installation

When installingSERVOPACKssidebysideas shown in the figureabove, provideat least10 mm

(0.39 in) between and at least 50mm(1.97 in) above andbeloweachSERVOPACK. Install cool-

ing fans above the SERVOPACKs to maintain a constant temperature inside the control panel

and to prevent an excessive temperature rise around each SERVOPACK.

J Environmental Conditions in the Control Panel

D Ambient Temperature: 0 to 55°C

D Humidity: 90% RH or less

D Vibration: 0.5 G (4.9 m/s2)

D Condensation and Freezing: None

D Ambient Temperature for Long-term Reliability:45°C max.

2

3 -1

3Connectors

This chapter describes the procedure used to connect Σ-II Series products

to peripheral devices when an Option Unit is mounted and provides exam-

ples of combined connections.

3.1 Connecting to Peripheral Devices 3 - 2. . . . . . . .3.1.1 Single-phase (100 V or 200 V) Main Circuit

Specifications 3 - 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1.2 Three-phase (200 V) Main Circuit Specifications 3 - 3.

3.2 SERVOPACK Internal Block Diagrams 3 - 4. . .3.3 Fully Closed Encoder Signals Connector

(CN4) 3 - 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3.1 Fully Closed Encoder Connection Example 3 - 5. . . . .3.3.2 CN4 Connector Terminal Layout 3 - 6. . . . . . . . . . . . . . .

3.4 Examples of Combined Connections 3 - 7. . . . .3.4.1 Single-phase Power Supply Specifications

(for Position Control) 3 - 7. . . . . . . . . . . . . . . . . . . . . . .3.4.2 Three-phase Power Supply Specifications

(for Position Control) 3 - 8. . . . . . . . . . . . . . . . . . . . . . .

3

Connectors

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

3 -2

3.1 Connecting to Peripheral Devices

This section provides examples of standard Σ-II Series product connections to peripheral devices.

It also briefly explains how to connect each peripheral device.

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

L1 L2 L1C L2CB1 B2

U V W

Molded-case CircuitBreaker (MCCB)

Protects the pow-er line by shuttingthe circuit OFFwhen overcurrentis detected.

Noise FilterUsed to eliminate externalnoise from the power line.

Power supplySingle-phase 200 VAC

R T

Molded-casecircuit breaker

Noise filter

Magnetic Contactor

HI Series

Turns the servoON and OFF.Install a surgesuppressor onthe magneticcontactor.

Magneticcontactor

Power Supply for BrakeUsed for a Servomotor with abrake. Brake

powersupply

Powersupplygroundline

Magneticcontactor

Regenerative ResistorConnect an external regenerative resistor to terminalsB1 and B2 if the regenerative capacity is insufficient.

Regenerativeresistor(option)

EncoderCableEncoderConnector

Fully Closed EncoderConnector kit model: JZSP-VEP02

Personal Computer

Cable model: JZSP-CMS01 to 03

Digital Operator

JUSP-OP02A-2

Allows the user to setparameters or opera-tion references and todisplay operation oralarm status.Communication isalso possible with apersonal computer.

3

3.1 Connecting to Peripheral Devices

3 -3

3.1.2 Three-phase (200 V) Main Circuit Specifications

L1 L2 L3L1C L2C

B1 B2

Molded-case CircuitBreaker (MCCB)

Protects the pow-er line by shuttingthe circuit OFFwhen overcurrentis detected.

Noise Filter

Used to eliminate external noisefrom the power line.

Magnetic Contactor

HI Series

Turns the servoON and OFF.Install a surgesuppressor on themagnetic contac-tor.

Power Supply for Brake

Used for a Servomotor with a brake.

If the capacity of the internal regenerative resistor isinsufficient, remove the wire between B2 and B3 andconnect an external regenerative resistor to terminalsB1 and B2.

Regenerative Resistor

Power supplyThree-phase 200 VAC

R S T

Molded-casecircuit breaker

Noise filter

Brakepowersupply

Magneticcontactor

Regenerativeresistor(optional)

EncoderCableEncoderConnector

Fully Closed EncoderConnector kit model: JZSP-VEP02

Personal Computer

Cable model: JZSP-CMS01 to 03

Digital OperatorJUSP-OP02A-2

Allows the user to setparameters or opera-tion references and todisplay operation oralarm status.Communication is alsopossible with a person-al computer.

U V WMagneticcontactor

Powersupplygroundline

3

Connectors

3 -4

3.2 SERVOPACK Internal Block Diagrams

The following sections show an internal block diagram for the SERVOPACK with an Option Unit.

30 to 400 W 200-V and 30 to 200 W 100-V Models

AC Servomotor

THS1

2

CHARGE

POWER

I/O

1MC L1XX1

L1C

L2C

1MC

1MC

(5RY)

∼ +

−

+−

C1+−

+5 V

0V

CN5 CN3

+15 V

B1 B2

P2

N2

U

V

W

CN1

CN2

U

V

W

D2D3D4

PG

±

±

5V

+ 5V

12 V

CN8

1RY1

L2

R

T

PM−1

N1

CN10

CN4

CN10

P1

FU1

TR1

D1 R7

R8

PM1−2

Single−phase200 to 230 V(50/60Hz)

+10%− 15%

Line filter

VoltageSensor

PowerOFF

PowerON

Surgesuppressor

Open during servoalarm

Relaydrive

Gate driveVoltageSensor

DC/DCcon−verter

Monitor display

Analog voltageconverter

Analog monitoroutput for su−pervision

Digital Operatorpersonal computer

Gate drive over−current protector

Interface

ASIC(PWM control)

CPU(position and speedcalculations)

CurrentSensor For battery

connection

Sequence I/O

Fully closed PG

Powersupply

∼

3

3.3 Fully Closed Encoder Signals Connector (CN4)

3 -5

3.3 Fully Closed Encoder Signals Connector (CN4)

This section describes the wiring required to connect the fully closed encoder signals connector

(CN4) to the fully closed encoder.

3.3.1 Fully Closed Encoder Connection Example

The following diagram shows an example of CN4 connections.

SERVOPACK

SN75175

Phase C

FG

Fully closed PG

P

16

17

18

19

14

15

1

P: Twisted pair cable

0 V

FA

/FA

FB

/FB

FC

/FC

SG

Phase B

Phase A

0 V

CN4

P

P

Made by TI

Input line receiver

Connector shell

Note TheSERVOPACKdoes not provide power supply for the fully closedPG, soit must be provided by the customer.

3

Connectors

3.3.2 CN4 Connector Terminal Layout

3 -6

3.3.2 CN4 Connector Terminal Layout

The following diagram shows the CN4 connector terminal layout and connector specifications.

J CN4 Connector Terminal Layout

1 SG GND 11 − −2 SG GND

1 SG GND12

11 − −2 SG GND

3 SG GND12 − −

13 − −4 − −

3 SG GND14 FC Fully closed

PG input for

13 − −

5 − −PG input forphase C 15 /FC Fully closed

PG input for

6 − − 16 FA Fully closedPG input for

pphase C

7 − −PG input forphase A 17 /FA Fully closed

PG input for

8 − − 18 FB Fully closedPG input for

PG input forphase A

9PG input forphase B 19 /FB Fully closed

PG input for

10 − −

− −

20 − −

PG input forphase B10 − − 20 − −

Note 1. Do not connect anything to empty terminals.

2. Connect the cable shield to the connector shell. It is connected to the frame ground (FG) through the connector on theSERVOPACK end.

J CN4 Specifications

Specifications forSERVOPACK

Applicable ReceptaclesSERVOPACKConnectors Soldered Case Manufacturer

10220-52A2JL20-pin Right Angle Plug

10120-3000VE 10320-52A0-008 SUMITOMO 3M LTD.

Note 1. Use shielded twisted pair cables with AWG24 or AWG26 wires. The fin-ished cable outside diameter must be 11.6 mm max.

2. The JZSP-VEP02 Connector Kit is available.

3

3.4 Examples of Combined Connections

3 -7

3.4 Examples of Combined Connections

The following diagrams show examples of combined connections.

3.4.1 Single-phase Power Supply Specifications (for Position Control)

1MCCB

R T

1MC

1MC

SUP

CN1

PULSCWPhase A

SIGNCCWPhase B

CLR

P

P

P

P

*PULS

SIGN

*SIGN

CLR

*CLR

+−

+ 5 V

0 V

SEN

SG

PL1PL2PL3

1 kΩ +12 V

PULS~P

150Ω

~

~

BAT(−)

BAT(+)

M

ALO1

ALO2

ALO3

PAO

PBO

PCO

*PAO

*PBO

*PCO

*PSOPSO

SG

*3.

+24 V +24 V 3.3 kΩ

1Ry

2Ry

N−LS

P−LS

3Ry

6Ry

7Ry

/S−ON

/P−CON

N−OT

P−OT

/ALM−RST

/P−CL

L1

L2

L1CL2C

47

41

43

42

44

45

U

VW

A(1)B1 B2 B3

*1.

FG

D(4)C(3)B(2)

/N−CL 46

1

2

4

22

21

2

31318

12

7

8

11

15

14

48

19

3334

3536

20

49

1

37

38

39

40

~/COIN+

/COIN−

25

26

~/TGON+

/TGON−

27

28

~/S−RDY+

/S−RDY−

29

30

~ALM+

ALM−

31

32

CN4

CN2 PG

PG

1MC

*4.G

Single-phase 200 to 230 VAC(50/60 Hz)

+ 10%–15%

Noise filter PowerOFF

PowerON

Alarmprocessing

Be sure to attach a surge suppressor to the ex-citation coil of the magnetic contactor and relay.

Servomotor

Optical encoderSGDH SERVOPACK

Connect toground.

JUSP-FC100 Option Unit

Be sure to prepare the end ofshield properly.

Fully closed speedand position detector

Fully closed PGpower supply

Alarm code outputMaximum operatingvoltage: 30 VDCMaximum operatingcurrent: 20 mA DC

Positioning completed(ON when positioning has been completed)

PG dividing ratio outputApplicable line receiver:SN75175 made by TIor MC3486 equivalent

Phase-S rotation countSerial data outputApplicable line receiver:SN75175 made by TIor MC3486 equivalent

TGON output(ON when the set value is exceeded)

Servo ready output

(ON when ready)

Servo alarm output

(OFF for an alarm)

Photocoupler OutputsMaximum operating voltage: 30 VDCMaximum operating current: 50 mA DC

Connect shield to connectorshell.

Connector shell

Servo ON

P control(P operation)Reverse runprohibitedForward runprohibitedAlarm resetReverse cur-rent limit ONForward cur-rent limit ON

Power supplyfor open col-lector refer-ence

Position reference

Backup battery 2.8 to 4.5V*2

SEN signal input*2

Servo ON when 1Ry turns ON

P operation when 2Ry turns ON

Reverse run prohibited when N-LS turns OFF

Forward run prohibited when P-LS turns OFF

Alarm reset when 3Ry turns ON

Reverse run current limit ON when 6Ry turns ON

Forward run current limit ON when 7Ry turns ON

* 1. P represents twisted-pair wires.* 2. Connect when using an absolute encoder.* 3. Valid when using an absolute encoder.* 4. Connect the groundwire of theOptionUnit to the pointmarked “G” on the SERVOPACK. (Refer to 1.3Mounting theOptionUnit.)

or Single-phase 110 to 115 VAC(50/60 Hz)

+ 10%–15%

3

Connectors

3.4.2 Three-phase Power Supply Specifications (for Position Control)

3 -8

3.4.2 Three-phase Power Supply Specifications (for Position Control)

Alarm code outputMaximum operating voltage:30 VDCMaximum operating current:20 mA DC

1MCCB

R T

1MC

1MC

SUP

CN1

PULSCWPhase A

SIGNCCWPhase B

CLR

P

P

P

P

*PULS

SIGN

*SIGN

CLR

*CLR

+−

+5 V

0 V

SEN

SG

PL1PL2PL3

1 kΩ +12 V

PULS~P

150 Ω

~

~

BAT(−)

BAT(+)

M

ALO1

ALO2

ALO3

PAO

PBO

PCO

*PAO

*PBO

*PCO

*PSOPSO

SG

*3.

+24 V +24 V 3.3 kΩ

1Ry

2Ry

N−LS

P−LS

3Ry

6Ry

7Ry

/S−ON

/P−CON

N−OT

P−OT

/ALM−RST

/P−CL

L1L2

L1CL2C

47

41

43

42

44

45

U

VW

A(1)B1 B2 B3

*1.

FG

D(4)C(3)B(2)

/N−CL 46

1

2

4

22

21

2

31318

12

7

8

11

15

14

48

19

3334

3536

20

49

1

37

38

39

40

~/COIN+

/COIN−

25

26

~/TGON+

/TGON−

27

28

~/S−RDY+

/S−RDY−

29

30

~ALM+

ALM−

31

32

CN4

CN2 PG

PG

1MC

L3

S

G *4.

Three-phase 200 to 230 VAC(50/60 Hz)

+ 10%–15%

Noise filter PowerOFF

PowerON

Alarmprocessing

Be sure to attach a surge suppressor to the excitationcoil of the magnetic contactor and relay.

SGDHSERVOPACK

Connect toground.

Servomotor

Optical encoder

Be sure to prepare the end ofshield properly.

Fully closed speedand position detector

Fully closed PGpower supply

JUSP-FC100 Option Unit

Position reference

Power sup-ply for opencollector ref-erences

Backup battery 2.8 to 4.5V*2

SEN signal input*2

Servo ON when 1Ry turns ON

P operation when 2Ry turns ON

Reverse run prohibited when N-LS turns OFF

Reverse run prohibited when P-LS turns OFF

Alarm reset when 3Ry turns ON

Reverse current limit ON when 6Ry turns ON

Forward current limit ON when 7Ry turns ON

* 1. P represents twisted-pair wires.

* 2. Connect when using an absolute encoder.

* 3. Valid when using an absolute encoder.

* 4. Connect the ground wire of the Option Unit to the point marked “G” on theSERVOPACK. (Refer to 1.3 Mounting the Option Unit.)

Servo ON

P control(P operation)Reverse runprohibitedForward runprohibited

Alarm reset

Reverse cur-rent limit ONForward cur-rent limit ON

Connector shell

Connect shield to connector shell.

PG dividing ratio outputApplicable line receiver:SN75175 made by TI orMC3486 equivalent

Phase-S rotation countSerial data outputApplicable line receiver:SN75175 made by TI orMC3486 equivalent

Positioning completed(ON when positioning is completed)

TGON output(ON when the set value is exceeded)

Servo ready output

(ON when ready)

Servo alarm output

(OFF for an alarm)

Photocoupler outputMaximum operating voltage: 30 VDCMaximum operating current: 50 mA DC

or Three-phase 100 to 115 VAC(50/60 Hz)

+ 10%–15%

3

4 -1

4Trial Operation

This chapter describes the check items before trial operation and the pa-

rameters required for trial operation.

4.1 Check Items before Trial Operation 4 - 2. . . . . . . . . .4.2 Parameters Required for Trial Operation 4 - 2. . . . .

4

Trial Operation

4 -2

4.1 Check Items before Trial Operation

Conduct trial operation after wiring has been completed.

Inspect and check the following items when performing trial operation, and be sure to conduct trial

operation safely.

Refer to Chapter 4 Trial Operation of the Σ-II Series SGMjH/SGDH User’s Manual (SIE-

S800-32.2) for details on trial operation.

D Before conducting trial operation for fully closed control, check the fully closed encoderand other relevant settings. If the settings are incorrect, there will be a risk of the motorgoing out of control. Conduct initial trial operation by setting the Pn505 parameter (over-flow level) to 1 (minimum value) to check the operation at low speed.

4.2 Parameters Required for Trial Operation

This section describes the minimum parameters required for trial operation with fully closed en-

coder specifications.

J Parameters

Refer to 7.1.6 Operation in User Constant Setting Mode of the Σ-II Series SGMjH/SGDH

User’s Manual (SIE-S800-32.2) for details on the setting of each parameter.

Turn OFF power once after changing any parameter. The change will be valid when power is

turned ON again.

Pn202 Electronic Gear Ratio (Numerator) See 5.2

Pn203 Electronic Gear Ratio (Denominator) See 5.2

Changing Servomotor Rotation Direction

Use the following parameter to reverse the direction of rotation.

Pn000.0 Function Selection Basic Switches: Direction Selection See 5.2

Fully Closed Encoder Specifications

Use the following parameters to conduct trial operation with fully closed encoder specifica-

tions.

Pn002.3 Usage of fully closed encoder See 5.2

Pn206 Number of fully closed pulses See 5.2

4

5 -1

5Parameter Settings and Functions

This chapter describes how to set parameters and use functions when using

fully closed system specifications.

5.1 Fully Closed System 5 - 2. . . . . . . . . . . . . . . . . . .5.1.1 Fully Closed Control 5 - 2. . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Fully Closed System Specifications 5 - 2. . . . . . . . . . . .

5.2 Setting Parameters 5 - 4. . . . . . . . . . . . . . . . . . . .5

Parameter Settings and Functions

5.1.2 Fully Closed System Specifications

5 -2

5.1 Fully Closed System

5.1.1 Fully Closed Control

In previous SERVOPACKs, a semi-closed method was used to control the motor. In the SGDH

SERVOPACK, however, a fully closed loop can be created using the parameter settings. With

this function evenmore precise control is achieved because control involves the detection of the

position and speed of actual machine operation.

Controlled machine

ServomotorMechanism in-cluding back-lash and friction

Speed andcontrol at themachine end

Load torque

Torque

Power

Speed,positionDetection

currentCurrent

Fully closed control

Parameters must be set when using fully closed control. Refer to 5.2 Setting Parameters for de-

tails.

5.1.2 Fully Closed System Specifications

This section describes the fully closed system specifications of the SGDH SERVOPACKwhen

an Option Unit is mounted.

J Fully Closed Encoder Pulse Output Form

5-V Differential line driver output (complies with EIA Standard RS-422A)

J Fully Closed Encoder Pulse Signal Form

90° Phase difference 2-phase differential pulse: phase A, phase B

Maximum receivable frequency for SERVOPACK: 1 Mbps

Phase A

Phase B

t1,t2,t3,t4 > 0.2 µst1 t2 t3 t4

Forward rotation Reverse rotation

=

5

5.1 Fully Closed System

5 -3

J Encoder Signal Output from SERVOPACK

If settings aremade to use fully closed encoder pulses (refer to5.2 SettingParameters), thePAO,

PBO, and PCO output signal terminals of the CN1 connector on the SGDH SERVOPACKwill

directly output fully closed encoder pulses. Encoder dividing ratio settings will be ignored.

If settings aremade to use fully closed encoder pulses in reverse rotationmode, PBO output sig-

nals will be inverted.

J Control Mode

Fully closed control is applicable to position control mode only. This mode can be switched to

another control mode during operation. Refer to 5.3.5 ControlMode Selection of theΣ-II Series

SGMjH/SGDH User’s Manual (SIE-S800-32.2) for details.

If position control mode is switched to another control mode, semi-closed control will be per-

formed, which differs from ordinary control with regard to the following points.

D PAO, PBO, and PCO output signals are fully closed encoder pulses.

D Fully closed encoder open circuit can be detected.

J Selecting Motor Encoders

Either incremental or absolute encoders can be used.

Whenusinganabsolute encoder, note that semi-closedcontrol differs fromordinary controlwith

regard to the following points.

D No SEN signal input is required.

D ThePAOsignal does not contain absolutevalue information (fully closedencoder pulseswillbe output). If absolute value information on the motor encoder is required, use the PSO sig-nal.

5


5 -4

5.2 Setting Parameters

This section describes the parameters that must be set when using an Option Unit.

J Fully Closed Encoder

Set the method for using the fully closed encoder.

Pn002.3 Fully Closed Encoder Usage Method FactorySetting:

0

Position Control

The setting details are as follows:

Parameters Setting Meaning

Pn002.3 0(Factory setting)

Fully closed encoder is not used.

1 Fully closed encoder is used without phase C.

2 Fully closed encoder is used with phase C.

3 Fully closed encoder is used in Reverse RotationMode without phase C.

4 Fully closed encoder is used in Reverse RotationMode with phase C.

Setting this parameter to 0 allows operation to be performed in ordinary semi-closed control

mode.

When changes have been made to this parameter, turn OFF the power once. The set value will

become effective when the power is turned ON again.

J Number of Fully Closed Encoder Pulses

Set the number of fully closed encoder pulses for each motor rotation.

When the number of fully closed encoder pulses permotor rotation is not an integer, set the clos-

est integer.

Error will occur in the speed monitor for position loop gain, feed forward, and reference pulse,

but no position displacement will occur. Set the number of pulses with a multiplication factor

of 1.

Pn206 Number of Fully ClosedEncoder Pulses

Unit

P/R

SettingRange:

513 to 65535

FactorySetting:

16384

PositionControl

When changes have been made to this parameter, turn OFF the power once. The set value will

become effective when the power is turned ON again.

5

5.2 Setting Parameters

5 -5

J Electronic Gears

The electronic gear settings for fully closed operation are different from those for semi-closed

operations.

For information on the parameters, refer to 5.2.5 Using the Electronic Gear Function of theΣ-II

Series SGMjH/SGDH User’s Manual (SIE-S800-32.2).

Elec-tronicgear

Deviationcounter

Speedcurrentloop

Position referencepulse

Encoder signaloutput

Machine

Fully closed PGPG

SERVOPACK

Servo-motor

×1×2×4

×4

5


5 -6

J Reverse Rotation Settings

The settings shown in the following table must be made in order to used the Reverse Rotation

Mode.

Making the settings carefully. Errors may cause the motor to run out of control.

Direction ofMotor as

Viewed fromLoad forForwardRotation

Relationbetween FullyClosed PG

during ForwardRotation Input

Phase

Pn000.0 Setting Pn002.3 Setting RelationBetween FullyClosed PGduring CCWRotation asViewed fromMotor loadInput Phase

CCW direction Figure 5.1 0 1, 3 Figure 5.1

Figure 5.2 2, 4 Figure 5.2

CW direction Figure 5.1 1 1, 3 Figure 5.1

Figure 5.2 2, 4 Figure 5.2

Fully Closed PG Input Fully Closed PG Input

Phase A

Phase B

Phase A

Phase B

Time TimeFigure 5.1 Figure 5.2

Both Pn000.0 and Pn002.3 can be used to change the rotational direction during normal opera-

tion. If the motor runs out of control, change either Pn000.0 or Pn002.3.

When Pn002.3 is set to 2 or 4, PBO output signals will be inverted.

5

6 -1

6Ratings, Specifications, and

Dimensional Drawings

This chapter provides the ratings, specifications, and dimensional drawings

of the Option Unit.

6.1 Ratings and Specifications 6 - 2. . . . . . . . . . . . . .6.2 Dimensional Drawings 6 - 3. . . . . . . . . . . . . . . . .

6.2.1 Option Unit 6 - 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2 SERVOPACKs 6 - 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Ratings, Specifications, and Dimensional Drawings

6 -2

6.1 Ratings and Specifications

The following table shows ratings and specifications for the Option Unit.

Table 6.1 Option Unit Ratings and Specifications

Item Details

Applicable SERVOPACK All SGDH-jjjE models

Installation Method Mounted on the SGDH SERVOPACK.

Basic Specifications Power Consumption[W]

0.5 max.

External Dimensions[mm]

20 × 142 × 128 (W × H × D)

Approx. Mass[kg] (lb)

0.2 (0.44)

Fully Closed SystemSpecifications

Fully ClosedEncoder PulseOutput Form

5-V differential line driver output (complies with EIA Standard RS-422A)

Fully Closed Encod-er Pulse SignalForm

90° Phase difference 2-phase differential pulse (phase A, phase B)

MaximumReceivableFrequency forSERVOPACK

1 Mbps

Power Supply forFully Closed Encod-er

To be prepared by customer

Internal Functions Protection Fully closed encoder open circuit detection

Reverse Rotation Set by parameters

6

6.2 Dimensional Drawings

6 -3


Dimensional drawings of the Option Unit and SERVOPACKs are shown below.

6.2.1 Option Unit

Dimensions of the Option Unit are shown below.

FC100

(24 (0.94))

Approx. mass: 0.2 kg (0.44 lb)20

(0.79)128 (5.04)

142(5.59)

6


6.2.2 SERVOPACKs

6 -4

6.2.2 SERVOPACKs

Dimensional drawings of the Base-mounted Standard SERVOPACKs (with Option Unit

mounted) are shown below.

J Base-mounted Models

Unit: mm (in)

SGDH-A3AE to -02AE (Single-phase, 200 V, 30 to 200 W)SGDH-A3AE to -01BE (Single-phase, 100 V, 30 to 100 W)

MADE IN JAPAN

Ver. FC100

160(6.30)

75 (2.95) (75 (2.95)) 130 (5.12)

Approx. mass: 1.0 kg (2.21 lb)

SGDH-04AE (Single-phase, 200 V, 400 W)SGDH-02BE (Single-phase, 100 V, 200 W)

MADE IN JAPAN

Ver. FC100

160(6.30)

95 (3.74) (75 (2.95)) 130 (5.12)


6


6 -5

SGDH-05AE to-10AE (Three-phase, 200 V, 0.5 to 1.0 kW)

MADE IN JAPAN

Ver. FC100

180 (7.09)(75 (2.95))

160(6.30)

110 (4.33)


SGDH-15AE (Three-phase, 200 V, 1.5 kW)Y

Y

YVer.

MADE IN JAPAN

FC100

(75 (2.95)) 180 (7.09)


160(6.30)

130 (5.12)

6


6.2.2 SERVOPACKs

6 -6

SGDH-20AE, -30AE (Three-phase, 200 V, 2.0 kW, 3.0 kW)

YY

Y

Ver.

MADE IN JAPAN

FC100

(75 (2.95)) 180 (7.09)


250(9.84)

130 (5.12)

SGDH-50AE (Three-phase, 200 V, 5.0 kW)Ver. 50AE−N1−R

FC100

250(9.84)

155 (6.10) (75 (2.95)) 230 (9.06)


6


6 -7

SGDH-60AE, -75AE (Three-phase, 200 V, 6.0 kW, 7.5 kW)

L1 L2 +

Ver.

POWER

BATTERY

CN3

CN8

FC100

235 (9.25)

250(9.84)

250 (9.84)

Approx. mass: 15.0 kg (33.07 lb) 6

7 -1

7Troubleshooting

This chapter describes troubleshooting procedures for Servodrives with an

Option Unit.

7.1 Troubleshooting Problems withAlarm Displays 7 - 2. . . . . . . . . . . . . . . . . . . . . . .

7.2 Troubleshooting Problems withNo Alarm Display 7 - 4. . . . . . . . . . . . . . . . . . . . .

7

Troubleshooting

7 -2

7.1 Troubleshooting Problems with Alarm Displays

This section describes alarms that will be added when an Optional Unit is mounted. Refer to theΣ-II

Series SGMjH/SGDH User’s Manual (SIE-S800-32.2) for details on alarms not listed in this sec-

tion.

Problems that occur in the Servodrives are displayed on the panel operator as “A.jj” or “CPF-

jj.” “A.−−,” however, does not indicate an alarm. Refer to the following sections to identify the

cause of an alarm and the action to be taken.

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

J A.C6

A.C6: Fully Closed Encoder Phase-A/-B Open Circuit Alarm

Display and Outputs

Alarm Outputs

Alarm Code Outputs ALMOutput

ALO1 ALO2 ALO3Output

ON OFF ON OFF

Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power OND

When Servo ON (S-ON)signal turns ON A, B,

C, D,E

During Servomotoroperation

A, B,C, D

Cause Remedy

A Fully closed encoder wiring error, faulty con-tact, or open circuit.

Check the wiring and check that the connec-tor is fully inserted on the encoder side.

B There is noise in the fully closed encoder wir-ing.

Separate the fully closed encoder wiringfrom the main circuit.

C The fully closed encoder is defective or OFF. Replace the fully closed encoder or turn ONthe power.

D SERVOPACK is defective. Replace SERVOPACK.

E Although no fully closed encoder is con-nected, the Pn002.3 parameter is set to 1, 2, 3,or 4.

Set the Pn002.3 parameter to 0.

7

7.1 Troubleshooting Problems with Alarm Displays

7 -3

J A.C7

A.C7: Fully Closed Encoder Phase-C Open Circuit Alarm

Display and Outputs

Alarm Outputs

Alarm Code Outputs ALMOutput

ALO1 ALO2 ALO3Output

ON OFF ON OFF

Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power OND

When Servo ON (S-ON)signal turns ON A, B,

C, D,E, F

During Servomotoroperation

A, B,C, D

Cause Remedy

A Fully closed encoder wiring error, faulty con-tact, or open circuit.

Check the wiring and check that the connec-tor is fully inserted on the encoder side.

B There is noise in the fully closed encoder wir-ing.

Separate the fully closed encoder wiringfrom the main circuit.

C The fully closed encoder is defective or OFF. Replace the fully closed encoder or turn ONthe power.

D SERVOPACK is defective. Replace SERVOPACK.

E Although no fully closed encoder is con-nected, the Pn002.3 parameter is set to 1, 2, 3,or 4.

Set the Pn002.3 parameter to 0.

F Although no fully closed encoder for phase Cis connected, the Pn002.3 parameter is set to 2or 4.

Set the Pn002.3 parameter to 1 or 3.

J Supplementary Information on A.C6 and A.C7

D When Pn002.3 = 0, neither A.C6 nor A.C7 will be detected.When Pn002.3 = 1 or 3, only A.C6 will be detected.When Pn002.3 = 2 or 4, both A.C6 and A.C7 will be detected.

D When Pn002.3 = 1, 2, 3, or 4, open circuit will be detected while the motor is ON even if thecontrol mode is not fully closed control mode (such as jogging mode).

D Open circuit is detected when no current flows through the terminating resistor inside theSERVOPACK.Therefore, alarmA.C6 orA.C7will also be activatedwhen the power supplyfor the fully closed PG line driver is shut down.

7

Troubleshooting

7 -4

7.2 Troubleshooting Problems with No Alarm Display

Refer to the tables below to identify the cause of a problem which causes no alarm display and take

the remedy described.

Also refer to 9.2.2 Troubleshooting Problems with No Alarm Display of the Σ-II Series SGMjH/

SGDH User’s Manual (SIE-S800-32.2).

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

Table 7.1 Troubleshooting Problems with No Alarm Display

Symptom Cause Remedy

When a command is input, themotor reverses out of control.

The fully closed encoder phases are incor-rect.

Correct the wiring or the Pn002.3 setting.

When a command is input, themotor continues to run.

No fully closed encoder pulses are output. Check the fully closed encoder.

7

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TAIPEI OFFICE9F, 16, Nanking E. Rd., Sec. 3, Taipei, TaiwanPhone 886-2-2502-5003 Fax 886-2-2505-1280

SHANGHAI YASKAWA-TONGJI M & E CO., LTD.27 Hui He Road Shanghai China 200437Phone 86-21-6553-6060 Fax 86-21-5588-1190

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083Phone 86-10-6233-2782 Fax 86-10-6232-1536

SHOUGANG MOTOMAN ROBOT CO., LTD.7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. ChinaPhone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA

YASKAWA ELECTRIC CORPORATION

© Printed in Japan June 2002 99-4

MANUAL NO. SIE-C718-5

02-5①

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

FULLY CLOSED INTERFACE UNIT

USER'S MANUAL

SERIES SGDH

99-71007

3

sigma-ii series sgdh fully closed interface unit user's...

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